U.S. patent number 6,592,374 [Application Number 09/744,683] was granted by the patent office on 2003-07-15 for motion simulator.
Invention is credited to Eui-sok Kim.
United States Patent |
6,592,374 |
Kim |
July 15, 2003 |
Motion simulator
Abstract
A motion simulator having a stationary frame and a movable frame
below the stationary frame in the direction of gravity. A passenger
car is attached to the bottom surface of the movable free. A
driving device is located between the stationary frame and the
movable frame and rotationally or linearly moves the movable
frame.
Inventors: |
Kim; Eui-sok (Uh-eun-dong,
Yoosung-gu, Daejeon-city, KR) |
Family
ID: |
19591740 |
Appl.
No.: |
09/744,683 |
Filed: |
January 29, 2001 |
PCT
Filed: |
June 09, 2000 |
PCT No.: |
PCT/KR00/00600 |
PCT
Pub. No.: |
WO00/77762 |
PCT
Pub. Date: |
December 21, 2000 |
Foreign Application Priority Data
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Jun 11, 1999 [KR] |
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1999-21812 |
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Current U.S.
Class: |
434/58; 434/29;
434/62; 434/30 |
Current CPC
Class: |
G09B
9/14 (20130101); G09B 9/04 (20130101) |
Current International
Class: |
B23Q
1/25 (20060101); B23Q 1/54 (20060101); B25J
17/02 (20060101); G09B 9/12 (20060101); G09B
9/14 (20060101); G09B 9/04 (20060101); G09B
9/02 (20060101); G09B 019/16 (); G09B 009/08 () |
Field of
Search: |
;434/29,30,34-36,38,46,55,58,62,37R,308,365 ;472/60,130 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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54-131432 |
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Oct 1979 |
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JP |
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2-156978 |
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Jun 1990 |
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JP |
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4-117690 |
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Oct 1992 |
|
JP |
|
Primary Examiner: Cheng; Joe H.
Attorney, Agent or Firm: Sughrue Mion, PLLC
Claims
What is claimed is:
1. A motion simulator comprising: a stationary frame; a movable
frame which is disposed beneath said stationary frame in the
direction of gravity, and which has a passenger compartment
attached on the bottom surface thereof; and a driving device
disposed between said stationary frame and said movable frame,
which rotationally or linearly moves the movable frame.
2. The motion simulator of claim 1, wherein said passenger
compartment is disposed beneath said movable frame in the direction
of gravity, and thereby the center of gravity of the passenger in
said passenger compartment is lower than the center of rotation of
said movable frame in the direction of gravity.
Description
BACKGROUND OF THE INVENTION
This invention relates to a motion simulator, and particularly an
improved motion simulator in which occurrence of undesired moving
sensations are eliminated during the creation of moving sensations
using gravity and thereby creation of a moving sensation which is
more similar to the actual situation is possible.
Generally, a motion simulator refers to a device which simulates
motions of objects such as an airplane or an automobile and allows
people to feel moving sensations within a limited space.
As a general motion simulator such as the above, a 6 DOF (degree of
freedom) motion simulator (100) in which a movable frame (120) is
driven by six actuators (131, 132, 133, 134, 135, 136) is depicted
in FIGS. 1 to 3b.
As depicted in FIG. 1, the conventional 6 DOF motion simulator(100)
has a structure which includes a stationary frame (110), a movable
frame (120), and a plurality of actuators (131, 132, 133, 134, 135,
136).
Said stationary frame (110) is installed fixedly against the ground
(gravity field). Said movable frame (120) is disposed above the
gravitational direction of the stationary frame (110). A passenger
compartment (140) is disposed on the top surface of said movable
frame (120).
Said plurality of actuators (131, 132, 133, 134, 135, 136) are
disposed between the stationary frame (110) and the movable frame
(120). Electric, hydraulic, or pneumatic actuators are generally
used for each of said actuators.
Said each actuator (133, 132, 133, 134, 135, 136) is rotatably
connected at both ends thereof by respective pairs of universal
joints (131a and 131b, 132a and 132b, 133a and 133b, 134a and 134b,
135a and 135b, 136a and 136b).
The conventional 6 DOF motion simulator (100) configured as the
above allows the passenger (170) in the passenger compartment (140)
to feel moving sensations similar to those felt when actually
riding an airplane or automobile by driving the plurality of
actuators (131, 132, 133, 134, 135, 136) and thereby moving the
movable frame (120).
For instance, for a racing car that has suddenly taken off and
continues to accelerate, the passenger feels sensations of being
pulled backward due to acceleration, and this sensation is
continued while acceleration after start is being progressed.
To create such sensation, the motion simulator (100) drives the
plurality of actuators (131, 132, 133, 134, 135, 136) and firstly
accelerates the movable frame (120) forward, as depicted in FIG.
2a. In the above case, the passenger (170) within the passenger
compartment (140) feels a pulling sensation from the rear to the
force of inertia.
However, because the range of motion of the motion simulator (100)
has a limit, the movable frame (120) which has been accelerated and
moved forward shortly falls within this limit. At this time, as
depicted in FIG. 2b, when the front of the movable frame (120) is
lifted, the passenger (170) continues to feel said sensation due to
gravity.
On the other hand, as another example, for an automobile turning
along a large curve, the passenger feels a pushing sensation to the
outer direction of the curve due to centrifugal force, and
continues to feel this sensation while the turning is being
progressed.
To create such sensation, the motion simulator (100) actuates the
plurality of actuators (131, 132, 133, 134, 135, 136) and firstly
accelerates the movable frame (120) to the side director, as
depicted in FIG. 3a. In the above case, the passenger (170) within
the passenger compartment (140) feels a sensation of being pushed
in the opposite direction of said movement due to the force of
inertia.
However, also for this case, because the range of motion of the
motion simulator (100) has a limit, the movable frame (120) which
has been accelerated and moved to the side direction shortly falls
within this limit. At this time, as depicted in FIG. 3b, when the
side of the movement direction of the movable frame (120) is
lifted, the passenger (170) continues to feed said sensation.
On the other hand, in FIGS. 4 to 6, as another example of the
conventional motion simulator, a 3 DOF motion simulator (101) of
which the movable frame (120) is driven by three actuators (131',
132', 133') is depicted.
According to FIGS. 4 to 6, the configuration of the conventional 3
DOF motion simulator (101) is identical to that of the 6 DOF motion
simulator except that the former has three actuators (131', 132',
133' and that it is provided with a separate support member (150)
to limit the occurrence of unintended forward/backward linear
motion, left/right linear motion, and rotating motion centered on
the top, bottom axes perpendicular to the surface of the movable
frame (120).
Therefore, in describing the configuration of the 3 DOF motion
simulator (101), same reference numbers are designated for parts
identical to those of the 6 DOF motion simulator, and the
descriptions thereof are omitted.
Meanwhile, as mentioned above, because all motions of the movable
frame (120) can not be restrained with only the actuators (131',
132', 133'), in the depicted conventional 3 DOF motion simulator
(101), there is provided a separate support member (150) for
limiting the occurrence of unintended motion to the movable frame
(120).
Said support member (150) is composed of a cylinder (151) which is
fixed on the stationary frame (110), a piston (152) which moves up
and down along said cylinder, and a universal joint (153) which
connects said piston and the movable frame (120)
In the case of the conventional 3 DOF motion simulator (101)
configured as the above, because there is no DOF to the horizontal
direction, that is, the direction perpendicular to gravity, when
creating continuous accelerating motion or rotating motion as
mentioned above, only the force of gravity is used.
Namely, to create a linear accelerating sensation, the motion
simulator (101) drives the plurality of actuators (131', 132',
133') and lifts the front of the movable frame (120) and thereby
allows the passenger (170) to feel a rearward pulling sensation, as
depicted in FIG. 5.
In addition, to create rotating movement, the motion simulator
(101) drives the plurality of actuators (131', 132', 133') and
lifts one side of the movable frame (120) and thereby allows the
passenger (170) to feel a pushing sensation to the other side, as
depicted in FIG. 5.
However, according to the conventional motion simulator (100, 101)
configured as the above, both simulators have a structure in which
the center of gravity of the passenger (170) is above the center of
rotation of the movable frame (120).
Due to the above, when representing acceleration from continuous
linear acceleration or from centrifugal motion to the side
direction, that is, when the movable frame (120) is tilted to
utilize gravity, there is the problem of occurrence of undesired
acceleration.
This awkward sensation (that is, force) may be expressed with the
following equation
Wherein, A.sub.p is the acceleration vector felt by the passenger
of the motion simulator, A.sub.v is the acceleration vector of the
moving movable frame of the motion simulator, A is rotational
acceleration vector of the movable frame, R.sub.pv is the relative
position vector of the passenger on top of the motion plate, and
.omega. is the rotational velocity vector.
The awkward sensation is sum of the calculation value of the cross
product of A and R.sub.pv vectors, which as A.times.R.sub.pv, and
the calculation value of the cross product of .omega., .omega.,
R.sub.pv vectors, which is
.omega..times..omega..times.R.sub.pv.
Namely, n the structure of conventional motion simulators (100,
101), because the center of gravity of the passenger (170) exists
vertically above the center of rotation of the movable frame (120),
when starting to rotate the movable frame to apply an accelerating
sensation to the passenger, the value of the A.times.R.sub.pv
vector becomes the opposite direction of the acceleration intended
to be created.
A graph displaying the above is shown in FIG. 7. The dotted line in
FIG. 7 represents the control reference signals which repeats
acceleration and deceleration of 3 m/s.sup.2, and the solid line
represents the ac/deceleration sensed by the passenger riding on
the motion simulator driven by inputting the above signals.
In FIG. 7, as shown by the pointed portions bulging out in the
opposite direction of the changes in the reference signals, in
contrary to the intended pushing to one side sensation, a sudden
attraction to the opposite side is experienced.
As a result of such problems, as shown by the solid line of FIG. 7,
a moving sensation in the opposite direction of the moving
sensation intended to be created (dotted line of FIG. 7) is
applied, and furthermore, the time taken to track the intended
moving sensation is delayed. This means a decline in actuality
experienced by the passenger.
In the case of the 6 DOF motion simulator taken for instance
previously, because of the limited range of linear motion, if the
movable frame is rotated, a moving sensation opposing the intended
moving sensation occurs as soon as the rotation is initiated.
In the foregoing, the problems of the conventional motion simulator
has been described taking the 6 DOF and the 3 DOF motion simulators
as two types of examples. However, although the extent may vary,
the above mentioned problems of conventional motion simulators
occur in all motion simulators having different degrees of freedom
that possess functions which apply linear accelerating sensations
to passengers using rotation and gravitational acceleration, and
whose centers of rotation are located beneath the passenger.
SUMMARY OF THE INVENTION
Therefore, the technical task that the present invention seeks to
achieve, that is, the object of the present invention is to resolve
he above mentioned problems of the conventional motion simulator by
providing a motion simulator that allows moving sensations similar
to she intended sensations and which reduces tracking time, through
the elimination of undesired moving sensations when creating moving
sensations using gravity.
The above object of this invention is achieved by providing a
motion simulator according to his invention characterized in that
it comprises a stationary frame; a movable frame which is disposed
beneath said stationary frame in the direction of gravity, and
which has the passenger compartment attached on the bottom surface
thereof; and a driving device disposed between said stationary
frame and said movable frame, which rotationally or linearly moves
the movable frame.
According to the motion simulator of this invention, because the
movable frame is disposed underneath the stationary frame, the
center of gravity of the passenger is lower than the center of
rotation of the movable frame.
Namely, because the value of the A.times.R.sub.pv vector is in the
same direction as the acceleration intended to be created even at
he point of rotation commencement, there are advantages in which
undesired accelerating sensations are not occurred even during
acceleration representation using gravity, and the tracking time of
the intended moving sensation is reduced.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic drawing of the structure of one example of a
conventional 6 DOF motion simulator;
FIGS. 2a and 2b are drawings showing the accelerating sensation
creation procedure of the motion simulator of FIG. 1;
FIGS. 3a and 3b are drawings showing the rotating sensation
creation procedure of the motion simulator of FIG. 1;
FIG. 4 is a schematic drawing of the structure of one example of a
conventional 3 DOF motion simulator;
FIG. 5 is a drawing showing the accelerating sensation creation
procedure of said 3 DOF motion simulator;
FIG. 6 is a drawing showing the rotating sensation creation
procedure of said 3 DOF motion simulator;
FIG. 7 is a graph showing a conventional motion simulator being
driven by inputting control reference signals that repeat 3 m/s
ac/deceleration, and the ac/decelerating sensation sensed by a
passenger riding the simulator;
FIG. 8 is a schematic drawing of the structure of the 6 DOF motion
simulator according to one embodiment of this invention;
FIGS. 9a and 9b are drawings showing the accelerating sensation
creation procedure of the motion simulator according to one
embodiment of this invention;
FIGS. 10a and 10b are drawings showing the rotating sensation
creation procedure of the motion simulator according to one
embodiment of this invention;
FIG. 11 is a schematic drawing of the structure of the 3 DOF motion
simulator according to another embodiment of this invention;
FIG. 12 is a drawing showing the accelerating sensation creation
procedure of the 3 DOF motion simulator according to another
embodiment of this invention;
FIG. 13 is a drawing showing the rotating sensation creation
procedure of the 3 DOF motion simulator according to another
embodiment of this invention; and
FIG. 14 is a graph showing the motion simulator of this invention
being driven by inputting control reference signals that repeat 3
m/s ac/deceleration, and the ac/decelerating sensation sensed by a
passenger riding the simulator.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
The preferred embodiments of the present invention are described in
detail with reference to the annexed drawings.
In FIGS. 8 to 10b the motion simulator according to one embodiment
of this invention is depicted. The depicted motion simulator (200)
is a 6 DOF motion simulator in which the movable frame (220) is
driven by six actuators (231, 232, 233, 234, 235, 236).
According to FIG. 8, the 6 DOF motion simulator (200) as according
to one embodiment of this invention includes a stationary frame
(210), a movable frame (220), and a plurality of actuators (231,
232, 233, 234, 235, 236).
Said stationary frame (210) is installed such that it is fixed
relative to the around (gravity field). Said movable frame (220) is
disposed vertically below the stationary frame (210. Underneath
said movable frame (220), a passenger compartment (240) is
disposed.
Said plurally of actuators (231, 232, 233, 234, 235, 236) are
disposed between the stationary frame (210) and the movable frame
(220) Said each actuator (231, 232, 233, 234, 235, 236) may be
electric, hydraulic, or pneumatic actuators.
Said each actuator (231, 232, 233, 234, 235, 236) is rotatably
connected at both ends thereof by respective pairs of universal
joints (231a and 231b, 232a and 232b, 233a and 233b, 234a and 234b,
235a and 235b, 236a and 236b).
The 6 DOF motion simulator (200) according to one embodiment of
this invention configured as the above allows the passenger (270)
in the passenger compartment (240) to feel moving sensations
similar to those felt when actually riding an airplane or
automobile by driving the plurality of actuators (231, 232, 233,
234, 235, 236) and thereby moving the movable frame (220).
For instance, to create a continuous accelerating sensation the
motion simulator (200) drives the plurality of actuators (231, 232,
233, 234, 235, 236), as depicted in FIG. 9a, and firstly
accelerates the movable frame (220) forward. In the above case, the
passenger (270) within the passenger compartment (240) feels a
pulling sensation from the rear due to the force of inertia, and
then when the front of the movable frame (220) is lifted, as
depicted in FIG. 9b, the passenger (270) continues to feel said
sensation due to gravity. The rotational movement is started while
lifting the front of the movable frame (220), however, at this
point the force of inertia a produced from radial acceleration is
in the same direction as the force of inertia causing said
sensation. Therefore, distinctive from the conventional motion
simulator, there is no undesired moving sensation to the opposite
direction, and also, in the present invention, with appropriate
adjustment of rotational radial velocity, the force of inertia may
be controlled to the desired amount.
In addition, as another example, to create a rotating sensation
from centrifugal force, the motion simulator (200) actuates the
plurality of actuators (231, 232, 233, 234, 235, 236), as depicted
in FIG. 10a, and firstly accelerates the movable frame (220) to the
side direction.
In the above case, the passenger (270) within the passenger
compartment (240) feels a sensation of being pushed in the opposite
direction of said movement due to the force of inertia, and then,
when he side of the movement direction of the movable frame (220)
is lifted, as depicted in FIG. 10b, the passenger compartment (240)
continues to feel said sensation. Also at this point, the
rotational movement is started while the movement direction side of
the movable frame (220) is being lifted, but the force of inertia
produced from radial acceleration is in the same direction as the
force of inertia causing said sensation. Therefore, distinctive
from the conventional motion simulator, there is no undesired
moving sensation to the opposite direction, and also, in the
present invention, with appropriate adjustment of rotational radial
velocity, the force of inertia may be controlled to the desired
amount.
On the other hand, in FIGS. 11 to 13, the motion simulator (201)
according to another embodiment of this invention is depicted. The
depicted motion simulator (201) is a 3 DOF motor simulator (201) of
which the movable frame (220) is driven by three actuators (231',
232', 233').
According to FIGS. 11 to 13, the configuration of the 3 DOF motion
simulator (201) according to another embodiment of this invention
is identical to that of the 6 DOF motion simulator (200) according
to the other embodiment of this invention, except that the former
has three actuators (231', 232', 233' and that it is provided with
a separate support member (250) to limit the occurrence of
undesired motion.
Therefore, in describing the configuration of the 3 DOF motion
simulator (201) according to another embodiment of this invention,
sane reference numbers are designated for parts identical to those
of the 6 DOF motion simulator (200), and the descriptions thereof
are omitted.
As mentioned above, because all motions of the movable frame (220)
can not be restrained with only the actuators (231', 232', 233') in
the 3 DOF motion simulator (201) according to another embodiment of
this invention, there is provided a separate support member (250)
for limiting the occurrence of undesired motion to the movable
frame (220).
Said support member (250) is composed of a cylinder (251) which is
fixed on the stationary frame (210), a piston (252) which moves up
and down along said cylinder, and a universal joint (253) which
connects said piston and the movable frame (220).
In the case of the 3 DOF motion simulator (201) according to
another embodiment of this invention configured as the above,
because there is no DOF to the horizontal direction, that is, the
direction perpendicular to gravity, when creating continuous
accelerating motion or rotating motion as mentioned above, only the
force of gravity is used.
Namely, to create a linear accelerating sensation, the motion
simulator (201) drives the plurality of actuators (231', 232',
233') and lifts the front of the movable frame (220) and thereby
allows the passenger (270) to feel a rearward pulling sensation, as
depicted in FIG. 12. The force of inertia produced from radial
acceleration at the time of lifting commencement or the front
portion is in the same direction as said moving sensation, and when
the amount of rotational radial velocity is appropriately adjusted,
the desired amount of inertia may be obtained within the control
range.
In addition, to create rotating movement, the motion simulator
(201) drives the plurality of actuators (231', 232', 233' and lifts
one side of the movable frame (220) and thereby allows the
passenger (270) to feel a pushing sensation to the other side, as
depicted in FIG. 13. The force of inertia produced from radial
acceleration at the time of lifting commencement of the one side is
in the same direction as said moving sensation, and when the amount
of rotational radial velocity is appropriately adjusted, the
desired amount of inertia may be obtained within the control
range.
According to the above motion simulators (200, 201) according to
this invention, because both have the movable frame (220) disposed
beneath the stationary frame (210), the center gravity of the
passenger (270) is below the center of rotation of the movable
frame (220).
Namely, because the value of the A.times.R.sub.pv, vector is in the
same direction as the acceleration intended to be created, even
during representation of accelerating sensations using gravity,
undesired accelerating sensations to the opposite direction are not
produced, and the tracking time of the desired moving sensation may
be reduced.
A graph displaying the above is shown in FIG. 14. The dotted line
in FIG. 14 represents the control reference signals which repeats
acceleration and deceleration of 3 m/s , the imaginary line
represents the ac/deceleration sensed by the passenger riding on
the conventional motion simulator driven by inputting the above
signals, and the solid line represents the ac/deceleration sensed
by the passenger riding on the motion simulator of the present
invention driven by inputting said signals.
According to the graph, in the case of he motion simulator of this
invention, there are no portions sharply bulging out in the
opposite direction of the change in the reference signals as in the
case of the conventional simulator. This means that undesired
moving sensations are not sensed, and as a result, means reduction
of tracking time for the moving sensation (dotted line of FIG. 14)
intended to be created, as shown by the solid line in FIG. 14. In
addition, in case of riding an actual motion simulator, the two
types of sensations show a large difference in the aspect of motion
reality. That is, a great difference in the performance of the
motion simulator is displayed.
It is to be understood, however, that even though the present
invention has been described with reference to the annexed drawings
which depict the preferred embodiments thereof, the present
invention is not limited to the said embodiments, and may
apparently be modified in many ways by those ordinarily skilled in
the art without departing from the general principle and scope of
the invention expressed in the appended claims.
* * * * *